845results about How to "Precise position control" patented technology

The invention discloses a picking method and picking robot device aiming at fruits which are in size of an apple and is similar to a sphere. The picking robot device comprises a mechanical actuating device, control system hardware and control system software. The mechanical actuating device comprises a picking mechanical arm, an underactuated manipulator, an electric sliding table and an intelligent mobile platform, wherein the control system hardware comprises an IPC (industrial personal computer), a motion control card, a data acquisition card, an AHRS (attitude and heading reference system), a coder, a monocular camera, a binocular camera, a force sensor, a slipping sensor and the like. During operation, the IPC fuses information of the coder, the AHRS, monocular camera components and an ultrasonic sensor to enable the mobile platform to independently navigate and avoid obstacles. A binocular vision system collects images of mature fruits and obstacles and extracts the characteristics of the images so as to realize obstacle avoidance of the mechanical arm and fruit positioning. Finally, the IPC fuses the information of the force sensor, the slipping sensor and the position sensor, thereby further reliably gripping the mature fruits and separating the fruits from fruit branches.

The invention discloses an automatic-navigation crawler-type mobile fruit picking robot which comprises a mechanical execution system and a control system and is characterized in that the mechanical execution system comprises an intelligent movable platform, a fruit picking mechanical arm and a two-finger type manipulator, wherein the intelligent movable platform comprises two crawler assemblies, an experimental facility fixing rack, a supporting stand column, a cross beam, a speed reducer and the like; and the control system comprises an industrial personal computer, a motion control card, a data collecting card, an image collecting card, an encoder, a GPS (global position system), a monocular zooming camera assembly, a binocular camera, a laser ranging sensor, a control circuit and the like. The automatic-navigation crawler-type mobile fruit picking robot integrates the fruit picking mechanical arm, the two-finger type manipulator, the intelligent movable platform and the sensor system, integrates multiple key technologies such as fruit identification, motion of the picking mechanical arm, grabbing of a tail-end executer, automatic navigation and obstacle avoidance of the movable platform, and the like, and really realizes automatic and humanized fruit picking.

The invention discloses a machine vision based full-automatic rotation printed product defect detection device which comprises an industrial control computer, supporting facilities of the industrial control computer, an image defect detection software system, a signal transmission unit, an image collection unit, a loading manipulator system, an unloading manipulator system and a product clamping rotation system; the industrial control computer is electrically connected with the image collection unit through the signal transmission unit; the image collection unit is formed by combining an image collection processing card, a CCD industrial camera, an optical lens and a detection light source together; the signal transmission unit is formed by three parts including an I/O (input/output) card, a synchronous card and a rotary encoder; and the product clamping rotation system is mainly used for fixing a product and driving the product to rotate. The machine vision based full-automatic rotation printed product defect detection device has the characteristics of no contact, high detection precision, rapidness, accuracy, high repeatability and high automation degree, relieves the manual detection pressure, solves various problems in manual detection, improves the detection quality, and increases the detection speed.

The invention provides a transfer robot system which comprises a base, a rotary upright column, a suspension arm, a manipulator and a control device. The rotary upright column is movably positioned on the base and is perpendicular to the base, the suspension arm is perpendicularly mounted on the rotary upright column and moves along the axial direction of the rotary upright column, the manipulator is movably fixed to the tail end of the suspension arm, the control device controls the rotation angle of the rotary upright column and displacement distances of the base, the suspension arm and the manipulator, and the suspension arm is perpendicular to the rotary upright column and is provided with a vision photographing and judging device for scanning types of transferred workpieces. Accordingly, the large heavy workpieces are transferred automatically, and production efficiency is improved.

The invention discloses a full-automatic fast and efficient rotating curved surface digital ink-jet printing machine. The printing machine comprises a control face plate, a printing product lifting worktable, a manipulator system, a product tool position clamping system and an ink-jet control system, an air pressure system, an ink road system and multiple sets of digital printing heads, wherein product rotation and surface changing, driving of the printing product lifting worktable, surface photoelectric dust removal treatment, industrial robot feeding and blanking and product transfer manipulator system hand movements are all controlled by servo motors and high-precision lead screw nut pairs, and walking control is accurate. According to the rotating curved surface digital ink-jet printing machine, multicolor digital ink-jet printing can be conducted on round bottles, ellipse double surfaces, square bottle multiple surfaces, irregular shape bottle multiple surfaces, spherical surfaces and external boss revolved body products. The vertical movement of the lifting worktable, the horizontal movement of digital ink-jet printing heads and the rotation movement of a product are utilized to enable the product to be close to or far away from the digital ink-jet printing heads to be printed, and the digital printing machine is good in printing effect, convenient to change bottle, short in cycle and high in efficiency.

The invention provides a workpiece console quality balancing and locating system, which is used to reduce the vibration of the workpiece console in a lithography machine and comprises an X axis long stroke module and a Y axis long stroke module so that a silicon chip plummer can move independently in X and Y directions relative to the system frame; a rectifying and antishifting device is used to compensate the locations shifting of the quality balancing system frame in X, Y and Rz directions; a vertical slightly adjusting and gravity compensation device, which is arranged between the X axis long stroke module and the Y axis long stroke module and the loading microchecker, is used to support almost all static weight of the silicon chip micorchecker and also has the function of slight adjustment of the degree of freedom in Z, Rx and Ry directions. In the invention and specific to the exposure system of the photolithographic silicon chip of big diameter, a quality balancing method is adopted for the workpiece console so as to reduce and eliminate the horizontal reaction force of motion and the unfavorable effect on the exposure system due to the change of the system gravity; the vertical slightly adjusting and gravity compensation device of special design ensures the vertical vibration reduction and isolation as well the precise location function of the silicon chip loading microchecker.

The invention discloses an automatic four-color twelve-station complex curved surface digital rotation printing machine. The printing machine comprises digital printing equipment, a control panel, a digital printing work table, a digital printing head, a manipulator system and a product tool position clamping system. Product rotation and face change, driving the digital printing work table, surface flame processing clamping and rotation, pre-positioning clamping and rotation and material loading and unloading manipulator motions are controlled through employing a servo motor and a high-precision screw nut pair, and precise moving control is realized. According to the machine, digital multi-color printing processing on circular bottles, elliptical double surfaces, square-bottle multiple surfaces, special-bottle multiple surfaces, spherical surfaces and revolving body products with outer bosses can be realized, vertical direction motion of the digital printing head and rotation motion of the product rotation mechanism are utilized to make the digital printing head be close to or away from product surfaces for printing, a problem that a revolving body curved surface with an outer boss can not be printed through a printer in the prior art can be solved through the digital printing machine, and the printing machine further has advantages of convenient bottle change, short period and high efficiency.

The invention relates to a regulating intracranial intravascular thrombus extraction device. The thrombus extraction device is provided with an adjusting guide wire, a thrombus extractor and an outer fixing sheath, wherein one end of the thrombus extractor is fixedly connected with the outer fixing sheath through a fixer, and the other end of the thrombus extractor is fixedly connected with a head-end developer through a fixer; the adjusting guide wire is also fixedly connected to the head-end developer, penetrates through the outer fixing sheath and the thrombus extractor, and is fixedly connected with a handle; a knob and a graduated scale are arranged on the handle. The thrombus extraction device has the advantages that the operability is high, the position of the thrombus extractor can be accurately regulated, the diameter of the thrombus extractor can be intuitively controlled, and thrombus can be completely captured and prevented from falling off; the thrombus can be firmly fixed, and compared with a conventional self-expanding thrombus extractor, the thrombus extraction device is higher in controllability and safety; the adjusting guide wire is controlled to accurately control the position, extension position and withdrawal position of the thrombus extractor by the knob and the graduated scale, and errors are small.

The invention discloses a preparation method of a metal nanostructure. The preparation method comprises the steps of (1) manufacturing a mask plate; (2) providing a clean and dry base plate, uniformly coating a positive ultraviolet photoresist on the base plate, and pre-baking to ensure that the positive ultraviolet photoresist is solidified to form a photoresist base plate; (3) overlapping the mask plate on the photoresist base plate, and performing exposure, development, residual adhesive removal and hardening under ultraviolet light to obtain a forming mold with shape grooves of a nanostructure graph; (4) depositing a metal in the forming mold by adopting a chemical synthetic method; (5) soaking the forming mold deposited with the metal in an acetone solution, and performing ultrasonic adhesive removal to obtain the metal nanostructure of the nanostructure graph. The preparation method disclosed by the invention is simple in process and high in efficiency; the shape, size and position of the prepared metal nanostructure can be accurately controlled, and the light extraction efficiency and light absorption efficiency of a metal nanostructure material are effectively improved.

The disclosure describes a system to provide a steady supply of lumber pieces to a board separating device and insure the correct positioning of each lumber piece, at the proper time, thus allowing the separating device to function at a substantially higher rate than hitherto possible with previously known infeeding arrangements.

The invention discloses a full-automatic, rapid and efficient multi-color rotation hook face silk screen printing machine. The printing machine comprises a control panel, a printing product lifting workbench, a mechanical arm system, a product tool position clamping system and a silk screen control system. Multiple silk screen printing plate control systems and multiple printing scraper control systems are included, wherein product rotating and face changing, printing product lifting workbench driving, surface photoelectric dust removal treatment, a feeding and discharging industrial robot and the arm action of a product transferring mechanical arm system are controlled by a servo motor and a high-precision screw-nut pair, and walking position control is accurate. The full-automatic, rapid and efficient multi-color rotation hook face silk screen printing machine can conduct multi-color silk screen printing on round bottles, double faces of oval bottles and multiple faces of square bottles, a printing product can be closely attached to a silk screen printing plate to be printed through the movement of the lifting workbench in the vertical direction, the horizontal movement of the silk screening printing plate and scrapers and the product rotation movement. The silk screen printing machine is good in printing effect, bottle replacing is convenient, the period is short, and efficiency is high.

The invention relates to a land leveler leveling control system, a control method and a land leveler. The leveling control system comprises a datum plane generation device, a sensor, a controller, a target order input device and reference points, wherein the reference points and the land leveler are arranged at interval; the spatial position of reference points is calculated by a signal detected by the sensor and the controller; the scraper knife target position is calculated by being combined with an input target position information; and the control signal of the corresponding motion amountis calculated and is sent to a driving mechanism in the land leveler. Because the reference points are arranged in the whole control process, the position of the scraper knife is controlled in space to have a relative reference object. The motion amount of each oil cylinder and each motor in the land leveler is accurately controlled to precisely control the position of the scraper knife. The landleveler provided with a leveling control system can perform the action on precisely controlling the scraper knife and improving leveling effect. With the leveling control method, a method for causingthe land leveler to effectively control leveling and improve the operation efficiency of the land leveler is provided.

The invention discloses an electric wetting lens and a forming method thereof. The forming method comprises the following steps of: providing a first substrate and forming a first transparent electrode on the first substrate; providing a second substrate and forming a second transparent electrode on the second substrate; forming a dielectric layer on the second transparent electrode; oppositely assembling the first substrate and the second substrate; clamping a polar liquid with photopolymerisable matters and a non-polar liquid with photopolymerisable matters between the first substrate and the second substrate; and irradiating the first substrate and the second substrate which are assembled to solidify the photopolymerisable matters in the polar liquid and the non-polar liquid so as to form a retaining wall structure between the first substrate and the second substrate. The electric wetting lens has the advantages of simplicity in preparation process and high product yield.

The invention discloses an image-vision-based automatic calibration method of a clean robot. The automatic calibration method comprises the following steps: a, placing a robot to be calibrated below a camera to enable an original point of a robot body coordinate system to be radiated by laser; b, acquiring the position of an optical center of the laser transmitted by a laser transmitter; c, acquiring a position transformational matrix T between the original point of the optical center of the laser and the robot body coordinate system; d, operating the mechanical arm of the robot, and acquiring the position of a farthest end point of a tray; e, calculating deviation between each practical moment and a design value; and f, converting the deviation into the robot body coordinate system through the position transformational matrix T, and recording the converted deviation data into a robot motion control module. When the automatic calibration method is used, the measurement precision can be 0.2 mm, and the accurate calibration of the mechanical arm is realized; and in addition, the automation degree is high, the measurement and the calibration are completely accomplished by a computer and are finally stored in the robot motion control module.

An airbag device for a vehicle including an inflator that generates high-pressure gas upon receiving an impact; and an airbag that deploys between an occupant and a vehicle body side portion from a folded state upon receiving the high-pressure gas from the inflator, wherein the airbag has a deployment restriction member that restricts the height of the airbag in the vehicle body vertical direction during deployment.

The invention discloses radiotherapy equipment and a radiotherapy system with the radiotherapy equipment. The radiotherapy equipment comprises a fixed cabinet, a rotary support, a main collimator, a radiation source and a multi-leaf collimator, wherein the rotary support is rotationally arranged on the fixed cabinet, and is provided with the radiation source, the main collimator is arranged on the radiation source, the multi-leaf collimator is mounted on the fixed cabinet and comprises multiple parallel leaf groups, each leaf group comprises a first leaf, a second leaf, a first linear motor and a second linear motor, the first and second leaves are oppositely arranged, the first linear motor is connected with the first leaf to drive the first leaf to move, and the second linear motor is connected with the second leaf to drive the second leaf to move. The radiotherapy equipment adopts the linear motors to drive the leaves to move, thus realizing the accurate control on the speed and position of the leaves and further improving the curing precision and efficiency.

The invention provides an integrated circuit package body and a manufacturing method thereof. The integrated circuit package body comprises an integrated circuit chip whose upper surface is formed with a sensitive element; a joint bonding pad formed on the upper surface of the integrated circuit chip and connected with the sensitive element electrically; a first blocking wall formed between the sensitive element and the joint bonding pad; and a conductive layer formed on the sidewall of the integrated circuit chip and connected with the joint bonding pad electrically. The first blocking wall of the invention can block the bonding agent to overflow to the area of the sensitive element, improving the qualified rate of manufacturing process of the integrated circuit package body.

The invention relates to a method for achieving synchronous control of a main shaft and an auxiliary shaft by means of a PLC. The method aims to achieve synchronous control of the two shafts on the premise of low cost. According to the technical scheme, a complex function needing to be achieved through multiple steps in a high-functioning medium or large PLC of other companies just needs to be realized through one instruction in the small PLC used in the method. If the complex function is achieved by using multiple instructions, the sampling period depends on the scanning period of the PLC in most cases; when a PLC program is large, the scanning period is very long, consequently a response lag of the auxiliary shaft is caused, the output pulse interval is large, a motor runs unstably, and positional accuracy is poor. The synchronization instruction is convenient to use and good in synchronization performance. Meanwhile, the execution efficiency of the PLC is greatly improved, and the scanning period of the whole PLC is shortened. Thus, the industrial movement control response is rapider, and position control is more accurate.

The invention provides a four-rotor aircraft speed control method based on integral variable structure control, and relates to the technical field of embedded systems, digital signal processing, microminiature unmanned aerial vehicles and the like. Firstly, building a four-rotor aircraft experimental platform, wherein the platform is an aircraft rack constructed by carbon fiber materials and a designed flight control embedded system; secondly, designing a flight control system by adopting a hierarchical designing scheme, wherein the flight control system comprises an upper-layer control module and a lower-layer control module; thirdly, achieving aircraft attitude control in the lower-layer control module, achieving speed control in the upper-layer control module; and fourthly, using an integral variable structure control algorithm in the attitude control and the speed control. According to the four-rotor aircraft speed control method based on the integral variable structure control, a prithvi air defence exercise (pade) approximation algorithm, a Kalman filtering algorithm and the integral variable structure control algorithm are used, algorithm complexity of the system is reduced greatly through the pade approximation algorithm; system state quantity which can not be obtained directly through sensors is obtained through the Kalman filtering algorithm; and lastly an integral variable structure controller is designed, wherein the integral variable structure controller has strong robustness and anti-interference performance.

The invention discloses an intelligentized mobile vehicle-mounted remote crop digital image acquisition system and a method thereof, belonging to the field of intelligentized agricultural machinery. The system consists of a client, a server and digital image acquisition and processing equipment. Under the action of a controller of the digital image acquisition and processing equipment, the digital image acquisition and processing equipment can freely move in horizontal and vertical directions and perform 360-degree omnibearing rotation, and accurately acquires a position image of a crop object, the image is decoded and compressed, then is transmitted to the server by a 3G wireless module, and is stored in a data processing module on a mainboard of the controller; or the acquired image is directly analyzed and processed by the controller. The intelligentized mobile vehicle-mounted remote crop digital image acquisition system is high in intelligentization degree, low in cost, good in equipment mobility and capable of accurately acquiring and wirelessly transmitting images of different parts of the crop in an omnibearing and multi-angle way, and provides a basis for analyzing crop growth information, plant disease and insect pest information and other information.